Many improvements to the MasterMACS motor driver. It is working but the hardware is shaky.

Added support for dose rate controlled Phytron motors. Not tested!
Small bug fixes

sinqEPICSApp/src/PhytronDriver.h

@@ -10,6 +10,11 @@ Updated to go through SINQAxis for -MsgTxt support
 Added a selector to support multiple phytrons on a connection
 
 Mark Koennecke, January 2019
+
+Added PhytronDoseAxis. The speed of this axis is controlled by the
+neutron dose rate fed in as analog signal
+
+Mark Koennecke, April 2023
 */
 
 #include "SINQController.h"
@@ -17,6 +22,10 @@ Mark Koennecke, January 2019
 
 #define COMLEN 80
 
+
+class PhytronController;
+class PhytronDoseController;
+
 class PhytronAxis : public SINQAxis
 {
 public:
@@ -32,7 +41,7 @@ public:
   asynStatus setClosedLoop(bool closedLoop);
   int setBrake(int brakeIO);
 
-private:
+protected:
   char phytronChar;
   PhytronController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
                                    *   Abbreviated because it is used very frequently */
@@ -47,6 +56,21 @@ private:
 friend class PhytronController;
 };
 
+class PhytronDoseAxis : public PhytronAxis
+{
+// A special version of PhytronAxis where the speed is controlled by the neutron flux.
+public:
+  PhytronDoseAxis(class PhytronController *pC, int axis, int enc);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+
+friend class PhytronDoseController; 
+
+protected:
+char doseChar; 
+PhytronDoseController *pC_;
+};
+
+
 class PhytronController : public SINQController {
 public:
   PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
@@ -57,7 +81,8 @@ public:
   PhytronAxis* getAxis(int axisNo);
 
 friend class PhytronAxis;
- private:
+
+ protected:
  asynUser *pasynUserController_;
 
  asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
@@ -65,3 +90,20 @@ friend class PhytronAxis;
  const char *selector;
 
 };
+
+class PhytronDoseController : public PhytronController {
+public:
+  PhytronDoseController(const char *portName, const char *PhytronPortName, const char *selector, 
+		    int encX, int encY);
+
+  PhytronDoseAxis* getAxis(asynUser *pasynUser);
+  PhytronDoseAxis* getAxis(int axisNo);
+
+friend class PhytronDoseAxis;
+
+ protected:
+ asynUser *pasynUserController_;
+ const char *selector;
+
+};
+